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An emerging paradigm is being embraced in the conceptualization of future planetary exploration missions. Ambitious objectives and increasingly demanding mission constraints stress the importance associated with faster surface mobility.…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters, remain hazardous due to loose, deformable regolith. We…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
Autonomous robots consistently encounter unforeseen dangerous situations during exploration missions. The characteristic rimless wheels in the AsguardIV rover allow it to overcome challenging terrains. However, steep slopes or difficult…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…